<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: common/include/pcl/common/intersections.h 文件参考</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('intersections_8h.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="summary">
<a href="#func-members">函数</a>  </div>
  <div class="headertitle">
<div class="title">intersections.h 文件参考<div class="ingroups"><a class="el" href="group__common.html">Common components</a></div></div>  </div>
</div><!--header-->
<div class="contents">
<div class="textblock"><code>#include &lt;pcl/ModelCoefficients.h&gt;</code><br />
<code>#include &lt;<a class="el" href="common_2include_2pcl_2common_2common_8h_source.html">pcl/common/common.h</a>&gt;</code><br />
<code>#include &lt;<a class="el" href="common_2include_2pcl_2common_2distances_8h_source.html">pcl/common/distances.h</a>&gt;</code><br />
<code>#include &lt;pcl/common/impl/intersections.hpp&gt;</code><br />
</div>
<p><a href="intersections_8h_source.html">浏览源代码.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
函数</h2></td></tr>
<tr class="memitem:ga64a4ea9a06fdb7a2ec3eda06b1b5a6e3"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__common.html#ga64a4ea9a06fdb7a2ec3eda06b1b5a6e3">pcl::lineWithLineIntersection</a> (const Eigen::VectorXf &amp;line_a, const Eigen::VectorXf &amp;line_b, Eigen::Vector4f &amp;point, double sqr_eps=1e-4)</td></tr>
<tr class="memdesc:ga64a4ea9a06fdb7a2ec3eda06b1b5a6e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the intersection of a two 3D lines in space as a 3D point  <a href="group__common.html#ga64a4ea9a06fdb7a2ec3eda06b1b5a6e3">更多...</a><br /></td></tr>
<tr class="separator:ga64a4ea9a06fdb7a2ec3eda06b1b5a6e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga9b79c559e12f4aacb41825f8b43840c2"><td class="memItemLeft" align="right" valign="top">PCL_EXPORTS bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__common.html#ga9b79c559e12f4aacb41825f8b43840c2">pcl::lineWithLineIntersection</a> (const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;line_a, const <a class="el" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a> &amp;line_b, Eigen::Vector4f &amp;point, double sqr_eps=1e-4)</td></tr>
<tr class="memdesc:ga9b79c559e12f4aacb41825f8b43840c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the intersection of a two 3D lines in space as a 3D point  <a href="group__common.html#ga9b79c559e12f4aacb41825f8b43840c2">更多...</a><br /></td></tr>
<tr class="separator:ga9b79c559e12f4aacb41825f8b43840c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a425e0506b2af1892e706a2375b9fd0bc"><td class="memTemplParams" colspan="2">template&lt;typename Scalar &gt; </td></tr>
<tr class="memitem:a425e0506b2af1892e706a2375b9fd0bc"><td class="memTemplItemLeft" align="right" valign="top">PCL_EXPORTS bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="intersections_8h.html#a425e0506b2af1892e706a2375b9fd0bc">pcl::planeWithPlaneIntersection</a> (const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;plane_a, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;plane_b, Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1 &gt; &amp;line, double angular_tolerance=0.1)</td></tr>
<tr class="memdesc:a425e0506b2af1892e706a2375b9fd0bc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine the line of intersection of two non-parallel planes using lagrange multipliers  <a href="intersections_8h.html#a425e0506b2af1892e706a2375b9fd0bc">更多...</a><br /></td></tr>
<tr class="separator:a425e0506b2af1892e706a2375b9fd0bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc420a405fdf57c19edd9e91d240269b"><td class="memItemLeft" align="right" valign="top"><a id="abc420a405fdf57c19edd9e91d240269b"></a>
PCL_EXPORTS bool&#160;</td><td class="memItemRight" valign="bottom"><b>pcl::planeWithPlaneIntersection</b> (const Eigen::Vector4f &amp;plane_a, const Eigen::Vector4f &amp;plane_b, Eigen::VectorXf &amp;line, double angular_tolerance=0.1)</td></tr>
<tr class="separator:abc420a405fdf57c19edd9e91d240269b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6646a946951d9293cee2500342f8ab08"><td class="memItemLeft" align="right" valign="top"><a id="a6646a946951d9293cee2500342f8ab08"></a>
PCL_EXPORTS bool&#160;</td><td class="memItemRight" valign="bottom"><b>pcl::planeWithPlaneIntersection</b> (const Eigen::Vector4d &amp;plane_a, const Eigen::Vector4d &amp;plane_b, Eigen::VectorXd &amp;line, double angular_tolerance=0.1)</td></tr>
<tr class="separator:a6646a946951d9293cee2500342f8ab08"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2056989ddf42f3c88d85b4d0e5c79a7"><td class="memTemplParams" colspan="2">template&lt;typename Scalar &gt; </td></tr>
<tr class="memitem:ac2056989ddf42f3c88d85b4d0e5c79a7"><td class="memTemplItemLeft" align="right" valign="top">PCL_EXPORTS bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="intersections_8h.html#ac2056989ddf42f3c88d85b4d0e5c79a7">pcl::threePlanesIntersection</a> (const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;plane_a, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;plane_b, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;plane_c, Eigen::Matrix&lt; Scalar, 3, 1 &gt; &amp;intersection_point, double determinant_tolerance=1e-6)</td></tr>
<tr class="memdesc:ac2056989ddf42f3c88d85b4d0e5c79a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine the point of intersection of three non-parallel planes by solving the equations.  <a href="intersections_8h.html#ac2056989ddf42f3c88d85b4d0e5c79a7">更多...</a><br /></td></tr>
<tr class="separator:ac2056989ddf42f3c88d85b4d0e5c79a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aecefc6e2d9503d55e2433ef05006a7c7"><td class="memItemLeft" align="right" valign="top"><a id="aecefc6e2d9503d55e2433ef05006a7c7"></a>
PCL_EXPORTS bool&#160;</td><td class="memItemRight" valign="bottom"><b>pcl::threePlanesIntersection</b> (const Eigen::Vector4f &amp;plane_a, const Eigen::Vector4f &amp;plane_b, const Eigen::Vector4f &amp;plane_c, Eigen::Vector3f &amp;intersection_point, double determinant_tolerance=1e-6)</td></tr>
<tr class="separator:aecefc6e2d9503d55e2433ef05006a7c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a64550b12c7a235265268291080372169"><td class="memItemLeft" align="right" valign="top"><a id="a64550b12c7a235265268291080372169"></a>
PCL_EXPORTS bool&#160;</td><td class="memItemRight" valign="bottom"><b>pcl::threePlanesIntersection</b> (const Eigen::Vector4d &amp;plane_a, const Eigen::Vector4d &amp;plane_b, const Eigen::Vector4d &amp;plane_c, Eigen::Vector3d &amp;intersection_point, double determinant_tolerance=1e-6)</td></tr>
<tr class="separator:a64550b12c7a235265268291080372169"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Define line with line intersection functions </p>
</div><h2 class="groupheader">函数说明</h2>
<a id="a425e0506b2af1892e706a2375b9fd0bc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a425e0506b2af1892e706a2375b9fd0bc">&#9670;&nbsp;</a></span>planeWithPlaneIntersection()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Scalar &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">PCL_EXPORTS bool pcl::planeWithPlaneIntersection </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>plane_a</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>plane_b</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>line</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>angular_tolerance</em> = <code>0.1</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Determine the line of intersection of two non-parallel planes using lagrange multipliers </p>
<dl class="section note"><dt>注解</dt><dd>Described in: "Intersection of Two Planes, John Krumm, Microsoft Research, Redmond, WA, USA" </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">plane_a</td><td>coefficients of plane A and plane B in the form ax + by + cz + d = 0 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">plane_b</td><td>coefficients of line where line.tail&lt;3&gt;() = direction vector and line.head&lt;3&gt;() the point on the line clossest to (0, 0, 0) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">line</td><td>the intersected line to be filled </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">angular_tolerance</td><td>tolerance in radians </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if succeeded/planes aren't parallel </dd></dl>

</div>
</div>
<a id="ac2056989ddf42f3c88d85b4d0e5c79a7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac2056989ddf42f3c88d85b4d0e5c79a7">&#9670;&nbsp;</a></span>threePlanesIntersection()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename Scalar &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">PCL_EXPORTS bool pcl::threePlanesIntersection </td>
          <td>(</td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>plane_a</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>plane_b</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>plane_c</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Eigen::Matrix&lt; Scalar, 3, 1 &gt; &amp;&#160;</td>
          <td class="paramname"><em>intersection_point</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>determinant_tolerance</em> = <code>1e-6</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Determine the point of intersection of three non-parallel planes by solving the equations. </p>
<dl class="section note"><dt>注解</dt><dd>If using nearly parralel planes you can lower the determinant_tolerance value. This can lead to inconsistent results. If the three planes intersects in a line the point will be anywhere on the line. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">plane_a</td><td>are the coefficients of the first plane in the form ax + by + cz + d = 0 </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">plane_b</td><td>are the coefficients of the second plane </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">plane_c</td><td>are the coefficients of the third plane </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">determinant_tolerance</td><td>is a limit to determine whether planes are parallel or not </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">intersection_point</td><td>the three coordinates x, y, z of the intersection point </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if succeeded/planes aren't parallel </dd></dl>

</div>
</div>
</div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_bdd9a5d540de89e9fe90efdfc6973a4f.html">common</a></li><li class="navelem"><a class="el" href="dir_11fbc4217d50ab21044e5ad6614aede5.html">include</a></li><li class="navelem"><a class="el" href="dir_39ef148c3cf3468c290ae8c03b3c03af.html">pcl</a></li><li class="navelem"><a class="el" href="dir_474708a720ff06817ce2c12e28baf137.html">common</a></li><li class="navelem"><a class="el" href="intersections_8h.html">intersections.h</a></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
